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. 2023 Jun 24;23(13):5860.
doi: 10.3390/s23135860.

A Robotized Raspberry-Based System for Pothole 3D Reconstruction and Mapping

Salvatore Bruno  1 , Giuseppe Loprencipe  1 , Paola Di Mascio  1 , Giuseppe Cantisani  1 , Nicola Fiore  1 , Carlo Polidori  2 , Antonio D'Andrea  1 , Laura Moretti  1
Affiliations

A Robotized Raspberry-Based System for Pothole 3D Reconstruction and Mapping

Salvatore Bruno et al. Sensors (Basel). .

Abstract

Repairing potholes is a task for municipalities to prevent serious road user injuries and vehicle damage. This study presents a low-cost, high-performance pothole monitoring system to maintain urban roads. The authors developed a methodology based on photogrammetry techniques to predict the pothole's shape and volume. A collection of overlapping 2D images shot by a Raspberry Pi Camera Module 3 connected to a Raspberry Pi 4 Model B has been used to create a pothole 3D model. The Raspberry-based configuration has been mounted on an autonomous and remote-controlled robot (developed in the InfraROB European project) to reduce workers' exposure to live traffic in survey activities and automate the process. The outputs of photogrammetry processing software have been validated through laboratory tests set as ground truth; the trial has been conducted on a tile made of asphalt mixture, reproducing a real pothole. Global Positioning System (GPS) and Geographical Information System (GIS) technologies allowed visualising potholes on a map with information about their centre, volume, backfill material, and an associated image. Ten on-site tests validated that the system works in an uncontrolled environment and not only in the laboratory. The results showed that the system is a valuable tool for monitoring road potholes taking into account construction workers' and road users' health and safety.

Keywords: GIS technologies; Raspberry Pi; autonomous robot; digital photogrammetry processing software; low-cost sensors; pavement potholes; road surface monitoring and maintenance; safety at work; urban road networks.

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 1
Figure 1
The framework of the overall procedure.
Figure 2
Figure 2
RPI 4B.
Figure 3
Figure 3
A view of the GPS antenna and the U-blox GPS module connected to Rpi 4B.
Figure 4
Figure 4
Rpi Camera Module v3 connected to Rpi 4B.
Figure 5
Figure 5
The proposed integrated system.
Figure 6
Figure 6
TMR path setting.
Figure 7
Figure 7
Asphalt tile simulating a real pothole.
Figure 8
Figure 8
Determining pothole fill volume using photogrammetry software.
Figure 9
Figure 9
Measuring pothole fill volume in lab tests.
Figure 10
Figure 10
Pothole information in GIS. The red dot locates in the centre of the pothole.
Figure 11
Figure 11
Main phases of the presented methodology. (a) Photos of the pothole from different points of view; (b) 3D mesh model of the scene; (c) Volume computation using software tools; (d) On-site inspection by qualified personnel; (e) Amount of filling material.
See this image and copyright information in PMC

References

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